U.S. patent application number 13/109190 was filed with the patent office on 2012-05-03 for robot arm assembly.
This patent application is currently assigned to HON HAI PRECISION INDUSTRY CO., LTD.. Invention is credited to ZHEN-XING LIU.
Application Number | 20120103127 13/109190 |
Document ID | / |
Family ID | 45995214 |
Filed Date | 2012-05-03 |
United States Patent
Application |
20120103127 |
Kind Code |
A1 |
LIU; ZHEN-XING |
May 3, 2012 |
ROBOT ARM ASSEMBLY
Abstract
A robot arm assembly includes a hollow wrist housing, a wrist
rotatably connected to the wrist housing, a first driver, a first
transmission mechanism, a rotary member, a second driver, and a
second transmission mechanism. The first driver is assembled within
the wrist housing for driving the wrist to rotate relative to the
wrist housing along a first rotary axis. The first transmission
mechanism is also assembled within the wrist housing and is
positioned between the wrist and the first driver. The rotary
member is rotatably assembled to a distal end of the wrist along a
second rotary axis. The second driver is assembled within the wrist
housing for driving the rotary member to rotate. The second
transmission mechanism is assembled within the wrist housing, and
is positioned between the second driver and the rotary member.
Inventors: |
LIU; ZHEN-XING; (Shenzhen,
CN) |
Assignee: |
HON HAI PRECISION INDUSTRY CO.,
LTD.
Tu-Cheng
TW
HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD.
Shenzhen City
CN
|
Family ID: |
45995214 |
Appl. No.: |
13/109190 |
Filed: |
May 17, 2011 |
Current U.S.
Class: |
74/490.06 ;
74/423; 74/490.04; 901/21; 901/26; 901/29 |
Current CPC
Class: |
Y10T 74/20329 20150115;
Y10T 74/20335 20150115; Y10T 409/307672 20150115; B25J 17/0283
20130101; Y10T 74/20323 20150115; Y10T 74/19688 20150115 |
Class at
Publication: |
74/490.06 ;
74/490.04; 74/423; 901/29; 901/21; 901/26 |
International
Class: |
B25J 17/02 20060101
B25J017/02; F16H 1/14 20060101 F16H001/14 |
Foreign Application Data
Date |
Code |
Application Number |
Oct 27, 2010 |
CN |
201010521540.6 |
Claims
1. A robot arm assembly, comprising: a wrist housing, the wrist
housing is hollow; a wrist rotatably connected to the wrist housing
along a first axis; a first driver assembled within the wrist
housing for driving the wrist to rotate relative to the wrist
housing; a first transmission mechanism assembled within the wrist
housing for transferring a rotation movement of the first driver to
the wrist; a rotary member rotatably assembled to a distal end of
the wrist; a second driver assembled within the wrist housing for
driving the rotary member to rotate along a second rotary axis; and
a second transmission mechanism assembled within the wrist housing,
for transferring a rotation movement of the second driver to the
rotary member.
2. The robot arm assembly as claimed in claim 1, wherein the second
rotary axis is perpendicular to the first rotary axis, the first
transmission mechanism is positioned between the wrist and the
first driver; the second transmission mechanism is positioned
between the second driver and the rotary member.
3. The robot arm assembly as claimed in claim 1, wherein the wrist
housing comprises a main bracket and two support arms oppositely
extending out from one end of the main bracket; a receiving space
is defined between the two support arms; the wrist is rotatably
assembled to the wrist housing and received in the receiving
space.
4. The robot arm assembly as claimed in claim 3, wherein the main
bracket defines a receiving hole, the first driver and the second
driver are both assembled within the receiving hole of the wrist
housing and positioned adjacent to and parallel to each other.
5. The robot arm assembly as claimed in claim 4, wherein the wrist
is substantially hollow T-shaped, and comprises a first sleeve body
and a second sleeve body intersecting with the first sleeve body;
two ends of the first sleeve body are respectively rotatably
assembled to the two support arms, a distal end of the second
sleeve body is exposed to the outer side of the receiving space
away from the main bracket; the rotary member is rotatably
assembled to the distal end of the second sleeve body.
6. The robot arm assembly as claimed in claim 5, wherein two ends
of the first sleeve body respectively define a first shaft hole and
a second shaft hole along an axial direction of the first sleeve
body; the first transmission mechanism comprises a first belt
transmission assembly, and a first rotary shaft, the first belt
transmission assembly is assembled within the wrist housing and
positioned at a same side as one support arm for coupling the first
driver and the wrist together; the first rotary shaft is assembled
into the first shaft hole of the wrist and the support arm of the
wrist housing.
7. The robot arm assembly as claimed in claim 6, wherein the first
transmission mechanism further comprises a first harmonic reducer
coupled to the first rotary shaft for reducing a rotating speed of
the wrist transmitted by the first belt transmission from the first
driver.
8. The robot arm assembly as claimed in claim 7, wherein the first
transmission mechanism further comprises a cross roller bearing
positioned between the first harmonic reducer and the wrist for
supporting the wrist.
9. The robot arm assembly as claimed in claim 6, wherein the first
belt transmission assembly comprises an input belt wheel, an output
belt wheel, and a transmission belt; the input belt wheel is
coupled to an output end of the first driver and is driven by the
first driver to rotate; the output belt wheel is secured to a
distal end of the first rotary shaft; the transmission belt is
mounted to the input belt wheel and the output belt wheel for
connecting the input belt wheel and the output belt wheel
together.
10. The robot arm assembly as claimed in claim 6, wherein the
second transmission mechanism comprises a second belt transmission
assembly, a second rotary shaft, a drive bevel gear mounted to the
second rotary shaft, a third rotary shaft, and a driven bevel gear
mounted to the third rotary shaft; the second belt transmission
assembly is positioned at a same side as the other support arm
opposite to the first belt transmission assembly, for coupling the
second driver and the wrist together; the second rotary shaft is
assembled within the first sleeve body; the second sleeve body
defines a third shaft hole perpendicular to and communicates with
the first and second shaft holes; the third rotary shaft is
assembled within the third shaft hole with the driven bevel gear
engaging with the drive bevel gear; the rotary member is mounted to
a distal end of the third rotary shaft.
11. A robot arm assembly, comprising: a wrist housing; a wrist
rotatably connected to the wrist housing; a first driver assembled
within the wrist housing for driving the wrist to rotate; a first
transmission mechanism assembled within the wrist housing and
positioned between the wrist and the first driver for transferring
a rotation movement of the first driver to the wrist; a rotary
member rotatably assembled to the wrist; and a second driver
assembled within the wrist housing for driving the rotary member to
rotate along a direction perpendicular to the first driver.
12. The robot arm assembly as claimed in claim 11, wherein the
wrist housing comprises a main bracket and two support arms
extending out from the main bracket; a receiving space is defined
between the two support arms; the wrist is rotatably assembled to
the wrist housing and received within the receiving space.
13. The robot arm assembly as claimed in claim 12, wherein the main
bracket defines a receiving hole, the first driver and the second
driver are both assembled within the receiving hole of the wrist
housing and positioned adjacent to and parallel to each other.
14. The robot arm assembly as claimed in claim 13, wherein the
wrist comprises a first sleeve body and a second sleeve body
intersecting with the first sleeve body; two ends of the first
sleeve body are respectively rotatably assembled to the two support
arms; the rotary member is rotatably assembled to the distal end of
the second sleeve body.
15. The robot arm assembly as claimed in claim 14 wherein two ends
of the first sleeve body respectively defines a first shaft hole
and a second shaft hole axially; the first transmission mechanism
comprises a first belt transmission assembly, and a first rotary
shaft, the first belt transmission assembly is assembled within the
wrist housing and positioned at a same side as one support arm for
coupling the first driver and the wrist together; the first rotary
shaft is assembled into the first shaft hole of the wrist and the
support arm of the wrist housing by a pair of deep groove ball
bearings.
16. The robot arm assembly as claimed in claim 15, wherein the
first transmission mechanism further comprises a first harmonic
reducer coupled to the first rotary shaft for reducing a rotating
speed of the wrist transmitted by the first belt transmission from
the first driver.
17. The robot arm assembly as claimed in claim 16, wherein the
first transmission mechanism further comprises a cross roller
bearing positioned between the first harmonic reducer and the wrist
for supporting the wrist.
18. The robot arm assembly as claimed in claim 15, wherein the
first belt transmission assembly comprises an input belt wheel, an
output belt wheel, and a transmission belt; the input belt wheel is
coupled to an output end of the first driver and is driven by the
first driver to rotate; the output belt wheel is secured to a
distal end of the first rotary shaft; the transmission belt is
mounted to the input belt wheel and the output belt wheel for
connecting the input belt wheel and the output belt wheel
together.
19. The robot arm assembly as claimed in claim 11, wherein the
robot arm assembly further comprises a second transmission
mechanism assembled within the wrist housing, for transferring a
rotation movement of the second driver to the rotary member; the
second transmission mechanism comprises a second belt transmission
assembly, a second rotary shaft, and a third rotary shaft; the
second belt transmission assembly is positioned at a same side as
the other support arm opposite to the first belt transmission
assembly, for coupling the second driver and the wrist together;
the second rotary shaft is assembled within the first sleeve body;
the second sleeve body defines a third shaft hole perpendicular to
and communicates with the first and second shaft holes; the third
rotary shaft is assembled within the third shaft hole and engages
with the second rotary shaft; the rotary member is mounted to a
distal end of the third rotary shaft.
20. The robot arm assembly as claimed in claim 19, wherein the
second transmission mechanism further comprises a drive bevel gear
mounted to the second rotary shaft, and a driven bevel gear mounted
to the third rotary shaft; the driven bevel gear engages with the
drive bevel gear.
Description
BACKGROUND
[0001] 1. Technical Field
[0002] This disclosure relates to robotics, and particularly, to a
robot arm assembly.
[0003] 2. Description of Related Art
[0004] Industrial robots are widely used in many fields such as
industrial manufacturing, repair, and testing. A commonly used
robot includes a plurality of individual robot arms, with every two
robot arms connected by a joint structure. Each robot arm is driven
by a driving assembly to rotate along a corresponding rotating
axis. The existing conventional driving assembly is generally
assembled within the robot arm, and includes a driving motor and a
motor reducer. The conventional driving assembly occupies a large
amount of space within the robot arm and is relatively heavy. Most
of the weight is positioned or exerted on an output shaft of the
motor reducer such that the integral strength of the robot arm is
reduced over time. In addition, the existing robot arm assembly
occupies also a relatively large amount of space and is also
heavy.
[0005] Therefore, there is room for improvement in the art.
BRIEF DESCRIPTION OF THE DRAWINGS
[0006] Many aspects of the embodiments can be better understood
with reference to the following drawings. The components in the
drawings are not necessarily drawn to scale, the emphasis instead
being placed upon clearly illustrating the principles of the robot
arm assembly. Moreover, in the drawings like reference numerals
designate corresponding parts throughout the several views.
Wherever possible, the same reference numerals are used throughout
the drawings to refer to the same or like elements of an
embodiment.
[0007] FIG. 1 is an assembled perspective view of an embodiment of
a robot arm assembly.
[0008] FIG. 2 is a partial assembled perspective view of the robot
arm assembly of FIG. 1, wherein, a side cover is detached from the
robot arm assembly.
[0009] FIG. 3 is another partial assembled perspective view of the
robot arm assembly of FIG. 1 shown from another aspect, wherein,
another side cover is detached from the robot arm assembly.
[0010] FIG. 4 is a cross-section of the robot arm assembly of FIG.
1, taken along line IV-IV.
DETAILED DESCRIPTION
[0011] Referring to FIGS. 1 through 4, an embodiment of a robot arm
assembly 100 is shown. The robot arm assembly 100 includes a wrist
housing 11, a wrist 12 rotatably connected to the wrist housing 11,
a first driver 13, a first transmission mechanism 14, a rotary
member 22, a second driver 23, and a second transmission mechanism
24. The wrist housing 11 is hollow shaped, and the wrist housing 11
can be driven to rotate along a rotary axis a. The wrist 12 is
rotatably assembled to one end of the wrist housing 11. The first
driver 13 is assembled within the wrist housing 11 for driving the
wrist 12 to rotate relative to the wrist housing 11 along a rotary
axis b. The first transmission mechanism 14 is also assembled
within the wrist housing 11, and is positioned between the wrist 12
and the first driver 13 for transferring a rotation movement of the
first driver 13 to the wrist 12. The rotary member 22 is rotatably
assembled to a distal end of the wrist 12 along a rotary axis c.
The second driver 23 is assembled within the wrist housing 11 for
driving the rotary member 22 to rotate along the rotary axis c. The
second transmission mechanism 24 is assembled within the wrist
housing 11, and is positioned between the second driver 23 and the
rotary member 22 for transferring a rotation movement of the second
driver 23 to the rotary member 22.
[0012] In one embodiment, the robot arm assembly 100 is applied to
a six-axis robot (not shown), the wrist housing 11, the wrist 12
and the rotary member 22 can be respectively driven to rotate along
rotary axes a, b, and c. The rotary member 22 is configured for
assembling an actuator such as a cutter, or a fixture. The rotary
axis a and the rotary axis c are both perpendicular to the rotary
axis b. The rotary axes a, b and c can intersect with each other to
a point.
[0013] The wrist housing 11 includes a main bracket 112, two
support arms 113, 115, and two covers 117, 119. The two support
arms 113, 115 are opposite to each other, and parallelly extend out
from one end of the main bracket 112 along a direction parallel to
two sides of the main bracket 112. A receiving hole 1123 is defined
through the two sides of the main bracket 112 along a direction
perpendicular to the two support arms 113, 115, namely, a direction
perpendicular to the rotary axis a, of the main bracket 112, and is
positioned adjacent to the other end of the main bracket 112
opposite to the two support arms 113, 115. A receiving space 1124
is formed between the two support arms 113, 115 for assembling the
wrist 12. The two covers 117, 119 are mounted on two opposite sides
of the wrist housing 11 for covering the receiving hole 1123 and
the two support arms 113, 115.
[0014] The first driver 13 and the second driver 23 are both
assembled within the receiving hole 1123 of the wrist housing 11.
Such that, a barycenter of the whole robot arm assembly 100 is
located adjacent to the main bracket 112 of the wrist housing 11,
and the weight of the rotary member 22 is decreased, and thus,
facilitating precise control to the rotary member 22. In addition,
as the second driver 23 is assembled within the receiving hole 1123
of the wrist housing 11, a plurality of connecting cables (not
shown) which are connected to the second driver 23 are not needed
to pass through the wrist 12, such that, the connecting cables
thereby avoid being damaged during usage. In one embodiment, the
first driver 13 and the second driver 23 are both servo motors, and
are both assembled adjacent to and parallel to each other within
the wrist housing 11.
[0015] The wrist 12 is substantially hollow T-shaped, and is
rotatably assembled to one end of the wrist housing 11, along the
rotary axis b perpendicular to the axis a of the main bracket 112.
The wrist 12 includes a first sleeve body 121 and a second sleeve
body 122 substantially perpendicularly intersecting with the first
sleeve body 121. The first sleeve body 121 is received within the
receiving space 1124 formed by the two support arms 113, 115. Two
ends of the first sleeve body 121 are rotatably assembled to the
two support arms 113, 115, respectively. A distal end of the second
sleeve body 122 is exposed to the outer side of the receiving space
1124 away from the main bracket 112. The rotary member 22 is
rotatably assembled to the distal end of the second sleeve body 122
along the rotary axis c perpendicular to the rotary axis b, for
connecting with other tools such as cutting tool, or fixture.
[0016] In one embodiment, two ends of the first sleeve body 121
define a first shaft hole 1212 and a second shaft hole 1213 along
the rotary axis b direction, respectively. The second sleeve body
122 defines a third shaft hole 1214 along the rotary axis c
direction. The third shaft hole 1214 is perpendicular to and
communicates with the first and second shaft holes 1212, 1213.
[0017] The first transmission mechanism 14 is assembled within the
wrist housing 11, and is positioned between the wrist 12 and the
first driver 13 for transferring a rotation movement of the first
driver 13 to the wrist 12. The first transmission mechanism 14
includes a first belt transmission assembly 141, a first rotary
shaft 142, and a first harmonic reducer 143. The first belt
transmission assembly 141 is assembled within the wrist housing 11,
and positioned at a same side as the support arm 113 for coupling
the first driver 13 and the wrist 12 together. The first rotary
shaft 142 is assembled into the first shaft hole 1212 of the wrist
12 and the support arm 113 of the wrist housing 11 by a pair of
deep groove ball bearings 1421. The first harmonic reducer 143 is
coupled to the first rotary shaft 142 for reducing a rotating speed
of the wrist 12 transmitted by the first belt transmission assembly
141 from the first driver 13. A cross roller bearing 145 is
positioned between the first harmonic reducer 143 and the wrist 12
for supporting the wrist 12 and ensuring a stable movement to the
wrist 12.
[0018] In one embodiment, the first belt transmission assembly 141
includes an input belt wheel 1411, an output belt wheel 1412, and a
transmission belt 1413. The input belt wheel 1411 is coupled to an
output end of the first driver 13 and is driven by the first driver
13 to rotate. The output belt wheel 1412 is secured to a distal end
of the first rotary shaft 142. The transmission belt 1413 is
mounted to the input belt wheel 1411 and the output belt wheel 1412
for connecting the input belt wheel 1411 and the output belt wheel
1412 together. Thus, as in use, the input belt wheel 1411 is driven
to rotate by the first driver 13, and the output belt wheel 1412 is
then driven to rotate together with the input belt wheel 1411 by
the transmission belt 1413. By means of the first belt transmission
assembly 141 and the first harmonic reducer 143, a rotating speed
of the first driver 13 can be efficiently reduced to a desired
rotating speed and finally be transmitted to the first rotary shaft
142.
[0019] The second transmission mechanism 24 is assembled within the
wrist housing 11, and is positioned between the wrist 12 and the
second driver 23 for transferring the rotation movement of the
second driver 23 to the wrist 12. In one embodiment, the second
transmission mechanism 24 includes a second belt transmission
assembly 241, a second rotary shaft 242, a drive bevel gear 243, a
third rotary shaft 244, a driven bevel gear 245 and a second
harmonic reducer 246.
[0020] The second belt transmission assembly 241 has a same
structure as the first belt transmission assembly 141. The second
belt transmission assembly 241 is also assembled within the wrist
housing 11 and is positioned at a same side as the support arm 115
opposite to the first belt transmission assembly 141, for coupling
the second driver 23 and the wrist 12 together. One end of the
second rotary shaft 242 is assembled into the second shaft hole
1213 of the wrist 12 by a pair of angular contact bearings 2421,
and the other end of the second rotary shaft 242 is assembled into
the first shaft hole 1212 of the wrist 12 by a pair of deep groove
ball bearings 2422.
[0021] The drive bevel gear 243 is mounted to a substantially
middle portion of the second rotary shaft 242 and received within
the first sleeve body 121. The third rotary shaft 244 is assembled
within the third shaft hole 1214 of the second sleeve body 122 of
the wrist 12 with a pair of angular contact bearings 2441. The
driven bevel gear 245 is mounted to one end of the third rotary
shaft 244 and engages with the drive bevel gear 243 mounted to the
second rotary shaft 242. Thus, as the second rotary shaft 242 is
driven to rotate with the second driver 23, the third rotary shaft
244 is driven to rotate together with the second rotary shaft 242.
The rotary member 22 is mounted to the other end of the third
rotary shaft 244 opposite to the main bracket 112. The second
harmonic reducer 246 is coupled to the third rotary shaft 244 for
reducing a rotating speed of the third rotary shaft 244 transmitted
by the second belt transmission assembly 241 from the second driver
23.
[0022] The second belt transmission assembly 241 includes an input
belt wheel 2411, an output belt wheel 2412, and a transmission belt
2413. The input belt wheel 2411 is coupled to an output end of the
second driver 23 and is driven by the second driver 23 to rotate.
The output belt wheel 2412 is secured to a distal end of the second
rotary shaft 242. The transmission belt 2413 is mounted to the
input belt wheel 2411 and the output belt wheel 2412 for connecting
the input belt wheel 2411 and the output belt wheel 2412 together.
Such that, the input belt wheel 2411 is driven to rotate with the
second driver 23, and the output belt wheel 2412 is then driven to
rotate together with the input belt wheel 2411 by the transmission
belt 2413. By means of the second belt transmission assembly 241
and the second harmonic reducer 246, a rotating speed of the second
driver 23 can be efficiently reduced to a desired rotating speed
and finally be transmitted to the second and third rotary shafts
242, 244.
[0023] It is understood that the two covers 117, 119 of the wrist
housing 11 can also be omitted.
[0024] It is to be understood, however, that even through numerous
characteristics and advantages of the disclosure have been set
forth in the foregoing description, together with details of the
structure and function of the invention, the disclosure is
illustrative only, and changes may be made in detail, especially in
matters of shape, size, and arrangement of parts within the
principles of the invention to the full extent indicated by the
broad general meaning of the terms in which the appended claims are
expressed.
* * * * *